ROS学习笔记9～TF坐标变换2

建立一个乌龟例程，来实现TF的广播和监听功能。

一、创建一个ROS功能包

1、创建TF广播器

首先，新建一个ROS包 learning_tf , 然后，创建一个发布乌龟坐标系与世界坐标系之间TF变换的节点。源码learning_tf/src/turtle_tf_broadcaster.cpp 内容如下：

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <turtlesim/Pose.h>

std::string turtle_name;

void poseCallback(const turtlesim::PoseConstPtr& msg)
{
    // tf广播器
    static tf::TransformBroadcaster br;

    // 根据乌龟当前的位姿，设置相对于世界坐标系的坐标变换
    tf::Transform transform;
    transform.setOrigin( tf::Vector3(msg->x, msg->y, 0.0) );
    tf::Quaternion q;
    q.setRPY(0, 0, msg->theta);
    transform.setRotation(q);

    // 发布坐标变换
    br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", turtle_name));
}

int main(int argc, char** argv)
{
    // 初始化节点
    ros::init(argc, argv, "my_tf_broadcaster");
    if (argc != 2)
    {
        ROS_ERROR("need turtle name as argument"); 
        return -1;
    };
    turtle_name = argv[1];

    // 订阅乌龟的pose信息
    ros::NodeHandle node;
    ros::Subscriber sub = node.subscribe(turtle_name+"/pose", 10, &poseCallback);

    ros::spin();

    return 0;
};

以上代码的关键部分是处乌龟 pose 消息的回调函数 poseCallback ， 在广播 TF 消息之前需要定义 tf::TransformBroadcaster 广播器，然后根据乌龟当前的位姿设置 tf::Transform 类型的坐标变换，包含 setOrigin 设置的平移变换以及 setRotation 设置的旋转变换。

2、创建TF监听器

TF消息广播之后，其他节点就可以监听该TF消息，从而获取需要的坐标变换了。源码learning_tf/src/turtle_tf_listener.cpp 内容如下：

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/Twist.h>
#include <turtlesim/Spawn.h>

int main(int argc, char** argv)
{
    // 初始化节点
    ros::init(argc, argv, "my_tf_listener");

    ros::NodeHandle node;

    // 通过服务调用，产生第二只乌龟turtle2
    ros::service::waitForService("spawn");
    ros::ServiceClient add_turtle =
    node.serviceClient<turtlesim::Spawn>("spawn");
    turtlesim::Spawn srv;
    add_turtle.call(srv);

    // 定义turtle2的速度控制发布器
    ros::Publisher turtle_vel =
    node.advertise<geometry_msgs::Twist>("turtle2/cmd_vel", 10);

    // tf监听器
    tf::TransformListener listener;

    ros::Rate rate(10.0);
    while (node.ok())
    {
        tf::StampedTransform transform;
        try
        {
            // 查找turtle2与turtle1的坐标变换
            listener.waitForTransform("/turtle2", "/turtle1", ros::Time(0), ros::Duration(3.0));
            listener.lookupTransform("/turtle2", "/turtle1", ros::Time(0), transform);
        }
        catch (tf::TransformException &ex) 
        {
            ROS_ERROR("%s",ex.what());
            ros::Duration(1.0).sleep();
            continue;
        }

        // 根据turtle1和turtle2之间的坐标变换，计算turtle2需要运动的线速度和角速度
        // 并发布速度控制指令，使turtle2向turtle1移动
        geometry_msgs::Twist vel_msg;
        vel_msg.angular.z = 4.0 * atan2(transform.getOrigin().y(),
                                        transform.getOrigin().x());
        vel_msg.linear.x = 0.5 * sqrt(pow(transform.getOrigin().x(), 2) +
                                      pow(transform.getOrigin().y(), 2));
        turtle_vel.publish(vel_msg);

        rate.sleep();
    }
    return 0;
};

3、创建 launch 启动文件

为同时启动多个节点，编写一个 launch 启动文件，源码 learning_tf/launch/start_demo_with_listener.launch 内容如下：

 <launch>
    <!-- 海龟仿真器 -->
    <node pkg="turtlesim" type="turtlesim_node" name="sim"/>

    <!-- 键盘控制 -->
    <node pkg="turtlesim" type="turtle_teleop_key" name="teleop" output="screen"/>

    <!-- 两只海龟的tf广播 -->
    <node pkg="learning_tf" type="turtle_tf_broadcaster"
          args="/turtle1" name="turtle1_tf_broadcaster" />
    <node pkg="learning_tf" type="turtle_tf_broadcaster"
          args="/turtle2" name="turtle2_tf_broadcaster" />

    <!-- 监听tf广播，并且控制turtle2移动 -->
    <node pkg="learning_tf" type="turtle_tf_listener"
          name="listener" />

 </launch>

4、编辑 CMakeLists.txt 文件

cmake_minimum_required(VERSION 2.8.3)
project(learning_tf)


find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  tf
  turtlesim
)


catkin_package(

)


include_directories(
  ${catkin_INCLUDE_DIRS}
)


add_executable(turtle_tf_broadcaster src/turtle_tf_broadcaster.cpp)
target_link_libraries(turtle_tf_broadcaster ${catkin_LIBRARIES})

add_executable(turtle_tf_listener src/turtle_tf_listener.cpp)
target_link_libraries(turtle_tf_listener ${catkin_LIBRARIES})

5、编辑 package.xml 文件

<?xml version="1.0"?>
<package>
  <name>learning_tf</name>
  <version>0.0.0</version>
  <description>The learning_tf package</description>

  
  <maintainer email="hcx@todo.todo">hcx</maintainer>

 
  <license>TODO</license>


  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>tf</build_depend>
  <build_depend>turtlesim</build_depend>
  <run_depend>roscpp</run_depend>
  <run_depend>rospy</run_depend>
  <run_depend>tf</run_depend>
  <run_depend>turtlesim</run_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

二、运行 ROS 功能包，观察结果

1、编译 ROS 功能包
2、运行 launch 文件

$  roslaunch learning_tf start_demo_with_listener.launch

运行结果如下图所示：

在终端中通过键盘控制 turtle1 移动， turtle2 也跟随移动。如下图所示：

至此一个完整的例程创建完毕。